In our framework, a human driver is an expert demonstrator and provides the ground truth driving commands using CARLA that the network is trained to imitate. A front facing RBG mono-camera of \(320 X 180\)  pixel resolution and \(100^{\circ }\)  FOV is mounted on a simulated vehicle for collecting visual information while driving. The expert demonstrator looks at a similar first-person view of a higher resolution (\(1280 X 720\) ) while driving the vehicle to collect data. The complications of record-mapping [1]} are prevented by having the demonstrator use a similar visual view point for demonstration.
